2026-05-31T07:26:33Zhttps://riuma.uma.es/rest/oai/requestoai:riuma.uma.es:10630/315232026-02-03T11:46:07Zcom_10630_2254col_10630_37959
RIUMA. Repositorio Institucional de la Universidad de Málaga
author
Rosa, Andrés
author
Sánchez-Laulhe Cazorla, Ernesto
author
Ollero, Anibal
2024-06-05T10:46:53Z
2024-06-05T10:46:53Z
2024
https://hdl.handle.net/10630/31523
An improved tracking method for ornithopters in perching scenario is presented. Based on previous works, this article develops a model-based approach for the lateral controller of the ornithopter. The paper shows how a simple dynamic model can be used to track autonomously a target point in a constrained confined space, that requires accurate and fast maneuvers. The lateral control follows a cascade architecture to transform the actuator movement, which for this kind of platform is the deflection of the vertical tail, into an effective trajectory tracking in the horizontal plane. Results show an improvement in the accuracy of the perching maneuver, reducing the errors in the horizontal plane from the perching position to the target point, the center of the branch in this case. In addition, the improved lateral control allows the ornithopter to reach the perching objective from different initial positions and directions, so it can perform a real 3D perching, compared to the previous experiment where the launching direction was aligned with the branch. This new controller can also be implemented for 3D trajectory tracking, leading to a complete ornithopter-based autopilot architecture.
spa
Aerodinámica
Aviones - Modelos
Model-Based Lateral Tracking for Bird-Size Ornithopters in Perching Scenario.
conference output
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URL
https://riuma.uma.es/bitstreams/c6e19806-0382-4c9e-9569-bcf61b0284b9/download
File
MD5
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application/pdf
ICRA_Workshop.pdf
URL
https://riuma.uma.es/bitstreams/43a3a4a1-cdad-4f68-b2e4-5e593a681590/download
File
MD5
37b074ede5735c836019b30519e04c02
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application/octet-stream
ICRA2024Workshop2.ppsx